RGBDSLAM v2 catkin_make problem

[Po-Jen]

On Ubuntu 12.04, ROS Hydro. When I catkin_make, there are some problem with libpq.so.5 and librosbag.so.

Linking CXX executable /home/rosfuerte/code/ros_hydro/devel/lib/rgbdslam/rgbdslam
/usr/lib/libpq.so.5: undefined reference to SSL_get_peer_certificate@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toCRYPTO_num_locks@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_CTX_use_certificate_chain_file@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_use_certificate_file@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to ENGINE_free@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toOPENSSL_config@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_get_error@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_use_PrivateKey_file@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to X509_STORE_load_locations@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_set_ex_data@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_read@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toX509_STORE_set_flags@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSLv23_method@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toENGINE_load_private_key@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to X509_get_subject_name@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toCRYPTO_set_id_callback@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_CTX_new@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_CTX_get_cert_store@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_check_private_key@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toENGINE_by_id@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to ERR_get_error@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toCRYPTO_set_locking_callback@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_load_error_strings@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_new@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to X509_NAME_get_text_by_NID@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_write@OPENSSL_1.0.0'
/opt/ros/hydro/lib/librosbag.so: undefined reference to ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)' /usr/lib/libpq.so.5: undefined reference toX509_free@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_CTX_load_verify_locations@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_free@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_set_verify@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toENGINE_init@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_set_fd@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_connect@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to ERR_reason_error_string@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_CTX_ctrl@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to SSL_pending@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_use_PrivateKey@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to ENGINE_finish@OPENSSL_1.0.0' /usr/lib/libpq.so.5: undefined reference toSSL_library_init@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_shutdown@OPENSSL_1.0.0'
collect2: ld 回傳 1
make[2]: *** [/home/rosfuerte/code/ros_hydro/devel/lib/rgbdslam/rgbdslam] Error 1
make[1]: *** [rgbdslam_v2/CMakeFiles/rgbdslam.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

[Po-Jen]

Tried modify CMakeLists.txt from

target_link_libraries(rgbdslam ${LIBS_LINK}  ${catkin_LIBRARIES})  

to

target_link_libraries(rgbdslam ${LIBS_LINK}  ${catkin_LIBRARIES} ${PCL_LIBRARIES})

But got more errors:

 Linking CXX executable /home/rosfuerte/code/ros_hydro/devel/lib/rgbdslam/rgbdslam
CMakeFiles/rgbdslam.dir/src/openni_listener.o: In function `loadPCDFile':
/usr/include/pcl-1.7/pcl/io/pcd_io.h:515: undefined reference to `pcl::PCDReader::read(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PCLPointCloud2&, int)'
CMakeFiles/rgbdslam.dir/src/openni_listener.o: In function `int pcl::PCDReader::read<pcl::PointXYZRGB>(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PointCloud<pcl::PointXYZRGB>&, int)':
/usr/include/pcl-1.7/pcl/io/pcd_io.h:209: undefined reference to `pcl::PCDReader::read(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PCLPointCloud2&, Eigen::Matrix<float, 4, 1, 0, 4, 1>&, Eigen::Quaternion<float, 0>&, int&, int)'
CMakeFiles/rgbdslam.dir/src/node.o: In function `pcl::Filter<pcl::PointXYZRGB>::filter(pcl::PointCloud<pcl::PointXYZRGB>&)':
/usr/include/pcl-1.7/pcl/filters/filter.h:148: undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::deinitCompute()'
CMakeFiles/rgbdslam.dir/src/node.o: In function `Filter':
/usr/include/pcl-1.7/pcl/filters/filter.h:104: undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::PCLBase()'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl6FilterINS_11PointXYZRGBEEE[vtable for pcl::Filter<pcl::PointXYZRGB>]+0x28): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl6FilterINS_11PointXYZRGBEEE[vtable for pcl::Filter<pcl::PointXYZRGB>]+0x30): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl6FilterINS_11PointXYZRGBEEE[vtable for pcl::Filter<pcl::PointXYZRGB>]+0x38): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl6FilterINS_11PointXYZRGBEEE[vtable for pcl::Filter<pcl::PointXYZRGB>]+0x40): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(unsigned long, unsigned long, unsigned long, unsigned long)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_11PointXYZRGBEEE[vtable for pcl::VoxelGrid<pcl::PointXYZRGB>]+0x28): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_11PointXYZRGBEEE[vtable for pcl::VoxelGrid<pcl::PointXYZRGB>]+0x30): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_11PointXYZRGBEEE[vtable for pcl::VoxelGrid<pcl::PointXYZRGB>]+0x38): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_11PointXYZRGBEEE[vtable for pcl::VoxelGrid<pcl::PointXYZRGB>]+0x40): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(unsigned long, unsigned long, unsigned long, unsigned long)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_11PointXYZRGBEEE[vtable for pcl::PCLBase<pcl::PointXYZRGB>]+0x28): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_11PointXYZRGBEEE[vtable for pcl::PCLBase<pcl::PointXYZRGB>]+0x30): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_11PointXYZRGBEEE[vtable for pcl::PCLBase<pcl::PointXYZRGB>]+0x38): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)'
CMakeFiles/rgbdslam.dir/src/node.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_11PointXYZRGBEEE[vtable for pcl::PCLBase<pcl::PointXYZRGB>]+0x40): undefined reference to `pcl::PCLBase<pcl::PointXYZRGB>::setIndices(unsigned long, unsigned long, unsigned long, unsigned long)'
CMakeFiles/rgbdslam.dir/src/graph_mgr_io.o: In function `pcl::PCDWriter::write(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool)':
/usr/include/pcl-1.7/pcl/io/pcd_io.h:353: undefined reference to `pcl::PCDWriter::writeASCII(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, int)'
/usr/include/pcl-1.7/pcl/io/pcd_io.h:351: undefined reference to `pcl::PCDWriter::writeBinary(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&)'
CMakeFiles/rgbdslam.dir/src/graph_mgr_io.o: In function `int pcl::PCDWriter::writeASCII<pcl::PointXYZRGB>(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PointCloud<pcl::PointXYZRGB> const&, int)':
/usr/include/pcl-1.7/pcl/io/impl/pcd_io.hpp:486: undefined reference to `pcl::PCDWriter::setLockingPermissions(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/include/pcl-1.7/pcl/io/impl/pcd_io.hpp:613: undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
CMakeFiles/rgbdslam.dir/src/graph_mgr_io.o: In function `int pcl::PCDWriter::writeBinary<pcl::PointXYZRGB>(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PointCloud<pcl::PointXYZRGB> const&)':
/usr/include/pcl-1.7/pcl/io/impl/pcd_io.hpp:157: undefined reference to `pcl::PCDWriter::setLockingPermissions(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/include/pcl-1.7/pcl/io/impl/pcd_io.hpp:258: undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/include/pcl-1.7/pcl/io/impl/pcd_io.hpp:247: undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/include/pcl-1.7/pcl/io/impl/pcd_io.hpp:213: undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/include/pcl-1.7/pcl/io/impl/pcd_io.hpp:204: undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/include/pcl-1.7/pcl/io/impl/pcd_io.hpp:193: undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/lib/libpq.so.5: undefined reference to `SSL_CTX_use_certificate_chain_file@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_get_error@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_use_PrivateKey_file@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_set_ex_data@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `X509_STORE_set_flags@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSLv23_method@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `X509_get_subject_name@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `ENGINE_load_private_key@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `CRYPTO_set_id_callback@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_CTX_get_cert_store@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_check_private_key@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `ENGINE_by_id@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `CRYPTO_set_locking_callback@OPENSSL_1.0.0'
/opt/ros/hydro/lib/librosbag.so: undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
/usr/lib/libpq.so.5: undefined reference to `X509_NAME_get_text_by_NID@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_write@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `X509_free@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_free@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_set_verify@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_set_fd@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_use_PrivateKey@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `ENGINE_finish@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_get_peer_certificate@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `CRYPTO_num_locks@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_use_certificate_file@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `ENGINE_free@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `OPENSSL_config@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `X509_STORE_load_locations@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_read@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_CTX_new@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `ERR_get_error@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_new@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_load_error_strings@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_CTX_load_verify_locations@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `ENGINE_init@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `ERR_reason_error_string@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_connect@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_CTX_ctrl@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_pending@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_library_init@OPENSSL_1.0.0'
/usr/lib/libpq.so.5: undefined reference to `SSL_shutdown@OPENSSL_1.0.0'
collect2: ld 回傳 1
make[2]: *** [/home/rosfuerte/code/ros_hydro/devel/lib/rgbdslam/rgbdslam] Error 1
make[1]: *** [rgbdslam_v2/CMakeFiles/rgbdslam.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

Reference Link:
http://answers.ros.org/question/211933/pclio-module-not-working-on-indigo/
http://answers.ros.org/question/211532/problems-linking-pclio-in-ros-indigo/

[qixuxiang]

add this to CMakeLists.txt

find_package (PCL 1.8 REQUIRED)

set(PCL_INCLUDE_DIRS /usr/local/include/pcl-1.8)  #指定pcl1.8路径

include_directories( ... ${PCL_INCLUDE_DIRS})

target_link_libraries( ... ${PCL_LIBRARIES})